You can do a single-income family and successfully, but you have to make some choices to do so. I know many who do it, and not all with no kids (some with many).
Things like older cars, smaller houses, location differences, etc. But there are major cost savings that offset, especially with the kids. Single car may work out, less gas, less tax, even less food expenses (many people faced with two incomes eat out more, and prepare food less).
Seeing people do is on $40k salaries means it should be entirely possible on larger ones. Note that if you want to try, it is almost always best for the lower earner to be the one who "stays home" so as to maximize income and minimize tax.
Also "not working a 9-5" is not synonymous with "no income" - there are actual non-scammy work that can be done at home in spare time if desired, and things like teaching exercise class, coaching, also exist.